REFERENCE SPECIFICATIONS MODEL Product Name: AC servo driver Part Number : MINAS-A6 series (Basic type) Issued on Sept. 1, 2015 Revised on Sept. 14, 2016 Motor Business Unit, Electromechanical Control Business Division Automotive & Industrial Systems Company, Panasonic Corporation 7-1-1 Morofuku , Daito-City, Osaka 574-0044 Japan No.SX-DSV03015
MODEL
Product Name: AC servo driver Part Number : MINAS-A6 series (Basic
type)
Issued on Sept. 1, 2015 Revised on Sept. 14, 2016
Motor Business Unit, Electromechanical Control Business
Division
Automotive & Industrial Systems Company, Panasonic
Corporation
7-1-1 Morofuku , Daito-City, Osaka 574-0044 Japan
No.SX-DSV03015
REVISIONS
Nov. 1, 2015 - 1.0 DEFAULT VALUE OF THE PARAMETERS CHANGED -
Sept.14,2016 P1 2.0 UPDATE THE MODEL DESIGNATION CODE -
P1 CHANGED THE NAME OF COMPANY
P1, P3,P53, P65 ADDED THE MODEL OF MEDLN93SE
P5 ADDED THE FUNCTIONS
P6365 CORRECT THE INRUSH CURRENTS AT CONTROL POWER SUPPLY
No. SX-DSV03015
Contents
3. Product line-up
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4. General specifications
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5. Appearance and part names
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6. Configuration of connectors and terminal blocks
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11
6-1 Power connector XA , XB , XC , XD and terminal block
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connector X1
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15 6-3 Parallel I/O connector, X4
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6-4 Encoder connector X6
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7. Dimensions
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8. Wiring
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8-2 Various connectors
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35 8-3 Precautions for wiring
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9. Compliance with global standards
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49
9-1 Conforming standards
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49 9-2 European EC
directive········································································································
49
9-3 Peripheral device configuration
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50 9-4 List of peripheral devices applicable to servo driver
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53 9-5 Compliance with UL standard
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55
9-6 Radio waves act (South Korea) precautions
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56 9-7 Compliance with SEMI F47 instantaneous stop standard
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9-8 Harmonic suppression measures
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10. Safety precautions
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57
11. Life and warranty
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61
11-1 Life expectancy of the driver
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61 11-2 Typical life
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11-3 Warranty period
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61
The maximum value of torque limit setup
Default value of the parameters
No. SX-DSV03015 - 1 -
1. Scope
These specifications relate to the servo driver for the AC servo
system that is comprised of the AC servo motor manufactured and
supplied by Motor Business Unit, Electromechanical Control Business
Division, Automotive & Industrial amplifier Systems Company,
Panasonic Corporation.
2. Model designation code
Notation of the machine designation code is as follows:
1 2 3 4 5 6 7 8 9 10 11 12
M A D L N 1 5 S E * * *
Custom specification (Alphanumeric) User Interface • Rotary
type
E : Basic type Power supply voltage
1 : Single phase 100 V 3 : 3 phase 200 V 5 : Single or 3 phase 200
V
Size A : Size A B : Size B C : Size C D : Size D E : Size E F :
Size F
AC Servo drive
N : Without functional safety Maximum instantaneous output
current
0 : 6 A 1 : 8 A 2 : 12 A 3 : 22 A 4 : 24 A 5 : 40 A 8 : 60 A 9 : 80
A A : 100 A B : 120 A
No. SX-DSV03015 - 2 -
3. Product line-up
specification Rated output Rated speed Encoder
specification
MADLN01SE A Single MSMF5AZL1** 100 V 50 W 3000 r/min 7 cores, 23
bits 100 V MHMF5AZL1** 100 V 50 W 3000 r/min 7 cores, 23 bits
MADLN11SE A Single MSMF011L1** 100 V 100 W 3000 r/min 7 cores, 23
bits
100 V MQMF011L1** 100 V 100 W 3000 r/min 7 cores, 23 bits
MHMF011L1** 100 V 100 W 3000 r/min 7 cores, 23 bits
MADLN05SE A Single / 3 phase MSMF5AZL1** 200 V 50 W 3000 r/min 7
cores, 23 bits
200 V MHMF5AZL1** 200 V 50 W 3000 r/min 7 cores, 23 bits
MSMF012L1** 200 V 100 W 3000 r/min 7 cores, 23 bits MQMF012L1** 200
V 100 W 3000 r/min 7 cores, 23 bits
MHMF012L1** 200 V 100 W 3000 r/min 7 cores, 23 bits MADLN15SE A
Single / 3 phase MSMF022L1** 200 V 200 W 3000 r/min 7 cores, 23
bits
200 V MQMF022L1** 200 V 200 W 3000 r/min 7 cores, 23 bits
MHMF022L1** 200 V 200 W 3000 r/min 7 cores, 23 bits MBDLN21SE B
Single MSMF021L1** 100 V 200 W 3000 r/min 7 cores, 23 bits
100 V MQMF021L1** 100 V 200 W 3000 r/min 7 cores, 23 bits
MHMF021L1** 100 V 200 W 3000 r/min 7 cores, 23 bits MBDLN25SE B
Single / 3 phase MSMF042L1** 200 V 400 W 3000 r/min 7 cores, 23
bits
200 V MQMF042L1** 200 V 400 W 3000 r/min 7 cores, 23 bits
MHMF042L1** 200 V 400 W 3000 r/min 7 cores, 23 bits MCDLN31SE C
Single MSMF041L1** 100 V 400 W 3000 r/min 7 cores, 23 bits
100 V MQMF041L1** 100 V 400 W 3000 r/min 7 cores, 23 bits
MHMF041L1** 100 V 400 W 3000 r/min 7 cores, 23 bits MCDLN35SE C
Single / 3 phase MSMF082L1** 200 V 750 W 3000 r/min 7 cores, 23
bits
200 V MHMF082L1** 200 V 750 W 3000 r/min 7 cores, 23 bits
MDDLN45SE D Single / 3 phase MGMF092L1** 200 V 850 W 1500 r/min 7
cores, 23 bits 200 V MSMF092L1** 200 V 1.0 kW 3000 r/min 7 cores,
23 bits MDMF102L1** 200 V 1.0 kW 2000 r/min 7 cores, 23 bits
MHMF102L1** 200 V 1.0 kW 2000 r/min 7 cores, 23 bits MDDLN55SE D
Single / 3 phase MHMF092L1** 200 V 1.0 kW 3000 r/min 7 cores, 23
bits
200 V MSMF102L1** 200 V 1.0 kW 3000 r/min 7 cores, 23 bits
MGMF132L1** 200 V 1.3 kW 1500 r/min 7 cores, 23 bits MSMF152L1**
200 V 1.5 kW 3000 r/min 7 cores, 23 bits MDMF152L1** 200 V 1.5 kW
2000 r/min 7 cores, 23 bits
MHMF152L1** 200 V 1.5 kW 2000 r/min 7 cores, 23 bits
No. SX-DSV03015 - 3 -
Servo driver Motor used
specification Rated output Rated speed Encoder
specification
MEDLN83SE E 3 phase MGMF182L1** 200 V 1.8 kW 1500 r/min 7 cores, 23
bits 200 V MSMF202L1** 200 V 2.0 kW 3000 r/min 7 cores, 23 bits
MDMF202L1** 200 V 2.0 kW 2000 r/min 7 cores, 23 bits MHMF202L1**
200 V 2.0 kW 2000 r/min 7 cores, 23 bits
MEDLN93SE E 3 phase 200 V MGMF242L1** 200 V 2.4 kW 1500 r/min 7
cores, 23 bits MFDLNA3SE F 3 phase MSMF302L1** 200 V 3.0 kW 3000
r/min 7 cores, 23 bits
200 V MDMF302L1** 200 V 3.0 kW 2000 r/min 7 cores, 23 bits
MHMF302L1** 200 V 3.0 kW 2000 r/min 7 cores, 23 bits
MFDLNB3SE F 3 phase MGMF292L1** 200 V 2.9 kW 1500 r/min 7 cores, 23
bits 200 V MSMF402L1** 200 V 4.0 kW 3000 r/min 7 cores, 23 bits
MDMF402L1** 200 V 4.0 kW 2000 r/min 7 cores, 23 bits MHMF402L1**
200 V 4.0 kW 2000 r/min 7 cores, 23 bits MGMF442L1** 200 V 4.4 kW
1500 r/min 7 cores, 23 bits MSMF502L1** 200 V 5.0 kW 3000 r/min 7
cores, 23 bits MDMF502L1** 200 V 5.0 kW 2000 r/min 7 cores, 23 bits
MHMF502L1** 200 V 5.0 kW 2000 r/min 7 cores, 23 bits
No. SX-DSV03015 - 4 -
4. General specifications 4-1 General specification
B as
ic sp
ec ifi
ca tio
ns
Input
power
supply
100 V Main circuit power Single phase 100 - 120 V + 10%
- 15% 50/60 Hz
Control circuit power Single phase 100 - 120 V + 10 % - 15 % 50/60
Hz
200 V
Main circuit
power
A - D Single/3 phase 200 - 240 V + 10 % - 15 % 50/60 Hz
E - F 3 phase 200 - 240 V + 10 % - 15 % 50/60 Hz
Control circuit
power
A - D Single phase 200 - 240 V + 10 % - 15 % 50/60 Hz
E - F Single phase 200 - 240 V + 10 % - 15 % 50/60 Hz
Operation conditions
Temperature Operation temperature: 0 - 55 degrees C (no
freezing)
Storage temperature: -20 – 65 degrees C (Max.temperature guarantee
: 80 degrees C for 72 hours no condensation*)
Humidity Operation and storage humidity 20 - 85 %RH or less (no
condensation*)
Height above the sea Height above the sea level: 1000 meters or
less
Vibration 5. 88 m/s2 or less, 10 – 60 Hz
Insulation voltage Resistant to 1500 V AC between primary power
supply and ground for a minute (Sensed current: 20 mA)
Control method IGBT PWM method, sinusoidal drive
Encoder feedback 23Bit(resolution:8388608) 7cores-serial absolute
encoder
Control signal
Function of each multi-function input is assigned by the
parameter.
Output Multi-function output x 5 + dedicated output x 1 (alarm
output)
Function of each multi-function output is assigned by the
parameter.
Analogue signal Output 2 outputs for analog monitor
Pulse signal
Both open collector and line driver interface can be
connected.
High speed line driver interface can be connected.
Output
4 outputs
Line driver output for encoder pulses (A/B/Z signal) or external
feedback pulses (EXA/EXB/EXZ signal) open
collector output also available for Z or EXZ signal
Communication USB USB interface to connect to computers for
parameter setting or status monitoring.
Front panel 5 key switches, 6-digit 7-segment LED
Regeneration Size A, B: External regen resistor only Size C - F:
Built-in regen resistor (External regen is also available)
Dynamic brake Size A - F: Built-in
Control mode Selectable from the following 3 modes by
parameter:
[1]position control [2]velocity control [3]position/velocity
control
Please note that condensation tend to occur when temperature
fall.
No. SX-DSV03015 - 5 -
Fu nc
tio n
Po si
tio n
co nt
ro l
Control input Deviation counter clear, command pulse input
inhibition, command division/multiplication switching, vibration
suppression control switching, etc.
Control output Positioning completion, etc.
Pulse input
Max command pulse frequency
500 K[pulse/s] (when using the photo coupler input) 8 M[pulse/s]
(when using the line receiver input of A-phase /B-phase)
Command pulse input mode
Command pulse scaling (Electronic gear)
1/1000 to 8000 times Although electronic gear ratio of the encoder
resolution (numerator) and command number of pulses per revolution
of the motor (denominator) can be arbitrarily set in the range of 1
to 223 for the numerator and in the range of 1 to 223 for the
denominator, this product should be used within the aforementioned
range. Smoothing Filter Primary delay filter or FIR filter is
selectable for command input.
Vibration suppression control Maximum of 3 may be used
simultaneously
Model type vibration damping filter Maximum of 2 may be used
simultaneously
2 degrees of freedom control Available
Load fluctuation suppression control Available
Position compare output function
Available [Condition] Block operation valid setting Return to
origin completed state in increment mode (when block operation
origin return invalidation setting is set to invalid)
Block operation Available
Control input Internal command velocity selection 1, Internal
command velocity selection 2, Internal command velocity selection
3, speed zero clamp, etc.
Control output Speed arrival, etc.
Internal velocity command It is possible to switch 8 speeds of
internal velocity with control input.
Soft start/down function 0 to 10s/1000 r/min r/min Setting is
possible for acceleration and deceleration respectively. S shaped
acceleration/deceleration is possible.
Speed zero clamp Internal velocity command can be clamped to 0 with
speed zero clamp input.
Velocity command filter Available
Load fluctuation suppression control Available
Position compare output function Not available
Block operation Not available
C om
m on
Auto-tuning This function identifies the load inertia real-time and
automatically sets up the gain that meets the stiffness setting
when the motor is running with host and internal driver operation
commands.
Pulse signal output division function Number of pulses can be
arbitrarily set. (However, the number of encoder pulses is the
maximum number.)
Protection function Overvoltage, undervoltage, overspeed, overload,
overheat, overcurrent, encoder failure, positional overdeviation,
command pulse division, EEPROM failure, etc.
Alarm data trace back function Reference of history of alarm data
is available.
Infinite rotation absolute function Available
Deterioration diagnosis function Available
4-2 Specifications by model
No. SX-DSV03015 - 6 -
100 V,200 V size A, B
X1USB connection UB-M5BR-S14-4S(LF)(SN) (JST) (or equivalent)
X4Parallel I/O connection DF02R050NA2 (JAE) (or equivalent)
X6Encoder connection 3E106-223AKV(3M) (or equivalent)
XAPower supply input connection 05JFAT-SAXGGKK-A (JST) (or
equivalent)
XBMotor connection 06JFAT-SAXGGKK-A (JST) (or equivalent)
XA Power supply input S05B-F32SK-GGXR (JST) (or equivalent)
XB Motor output S06B-F32SK-GGXR (JST) (or equivalent)
Charge lamp
Front panel
XBMotor connection
P N B U V W
Main power supply input
Control power supply input
100 V,200 V size C, D
X1USB connection UB-M5BR-S14-4S(LF)(SN) (JST) (or equivalent)
X4Parallel I/O connection DF02R050NA2 (JAE) (or equivalent)
X6Encoder connection 3E106-223AKV(3M) (or equivalent)
XAPower supply input connection 05JFAT-SAXGGKK-A (JST) (or
equivalent)
XBMotor connection 06JFAT-SAXGGKK-A (JST) (or equivalent)
XA Power supply input S05B-F32SK-GGXR (JST) (or equivalent)
XB Motor output S06B-F32SK-GGXR (JST) (or equivalent)
Charge lamp
Front panel
XBMotor connection
P RB B U V W
Main power supply input
Control power supply input
200 V size E
X4Parallel I/O connection DF02R050NA2 (JAE) (or equivalent)
X6Encoder connection 3E106-223AKV(3M) (or equivalent)
Charge lamp
Front panel
XCRegenerative resistor connection
XA Power supply input S05B-JTSLSK-GSANXR (JST) (or
equivalent)
XB Motor output S03B-JTSLSK-GSANXR (JST) (or equivalent)
XC Regenerative resistor connection S04B-JTSLSS-GSANXR (JST) (or
equivalent)
L1 L2 L3 L1C L2C
P RB B N
200 V size F
X4Parallel I/O connection DF02R050NA2 (JAE) (or equivalent)
X6Encoder connection 3E106-223AKV(3M) (or equivalent)
Charge lamp
Front panel
Earth connection screw
L1 L2 L3 L1C L2C P RB B N U V W
Main power supply input
Control power supply input
Name plate
Model number
Serial number e.g.): P 1 5 0 7 0 0 0 1 N
Lot number Month of production
Year of production (Lower 2 digit of AD year)
Input/output voltage
QR code
standard mark
Manufacture date
Manufacture month
Manufacture year
6. Configuration of connectors and terminal blocks
6-1 Power connector XA , XB , XC , XD and terminal block
[1] Size A, B of 100 V and 200 V system
Connector pin No.
+ 10 % 50/60 Hz input
- 15 % Use L1 and L3 terminal for single phase input
4 L2 200 V
50/60 Hz input - 15 %
3 L3 Use L1 and L3 terminal for single phase input
2 L1C Control power supply input
100 V Single phase 100-120 V + 10 %
50/60 Hz input - 15 %
50/60 Hz input - 15 %
Regen resistor connection
When a trip happens due to a regenerative load protection error,
connect an external regenerative resistor (prepared by customer)
between P and B.
Then, specify the external regenerative resistor for the parameter
Pr0.16.
Do not connect N terminal.
5 N
4 B
3 U Motor connection Connect each phase of the motor winding.
U: U phase V: V phase W: W phase 2 V 1 W
Earth Earth terminal for grounding
* Tighten the earth screws M4 with the 0.7-0.8 Nm torque
respectively.
No. SX-DSV03015 - 12 -
Motor Business Unit, Panasonic Corporation
[2] Size C, D of 100 V and 200 V system
Connector pin No.
+ 10 % 50/60 Hz input
- 15 % Use L1 and L3 terminal for single phase input
4 L2 200 V
50/60 Hz input - 15 %
3 L3 Use L1 and L3 terminal for single phase input
2 L1C Control power supply input
100 V Single phase 100-120 V + 10 %
50/60 Hz input - 15 %
1 L2C 200 V Single phase 200 – 240 V + 10 %
50/60 Hz input - 15 %
Regen resistor connection
Normally, short out the circuit between B and RB. (Sizes C, D) When
a trip happens due to a regenerative load protection error, open
the
circuit between B and RB and connect an external regenerative
resistor (prepared by customer) between P and B.
Then, specify the external regenerative resistor for the parameter
Pr0. 16.
5 RB
4 B
3 U Motor connection Connect each phase of the motor winding.
U: U phase V: V phase W: W phase 2 V 1 W
Earth Earth terminal for grounding
* Tighten the earth screws M4 with the 0.7-0.8 Nm torque
respectively.
No. SX-DSV03015 - 13 -
[3] Size E of 200 V system
Connector pin No.
input 200 V 3 phase 200 - 240 V + 10 % - 15 %
50/60 Hz input 4 L2 3 L3 2 L1C Control power
supply input 200 V Single phase 200 - 240 V + 10 % - 15 %
50/60 Hz input 1 L2C
XC
Regen resistor connection
Normally, short out the circuit between RB and B. When a trip
happens due to a regenerative load protection error, open the
circuit between RB and B and connect an external regenerative
resistor (prepared by customer) between P and B.
Then, specify the external regenerative resistor for parameter Pr0.
16. Do not connect N terminal.
3 RB
2 B
1 N
XB 3 U
Motor connection Connect each phase of the motor winding. U: U
phase V: V phase W: W phase
2 V 1 W
Earth Earth terminal for grounding
* Tighten the earth screws M4 with the 0.7-0.8 Nm torque
respectively.
No. SX-DSV03015 - 14 -
[4] Size F of 200V system
Terminal block is used instead of connector.
Terminal No.
input 3 phase 200 - 240 V + 10 % - 15 %
50/60 Hz input 2 L2 3 L3 4 L1C Control power
supply input Single phase 200 - 240 V + 10 % - 15 %
50/60 Hz input 5 L2C
6 P
Regen resistor connection
Normally, short out the circuit between RB and B. When a trip
happens due to a regenerative load protection error, open the
circuit between RB and B and connect an external regenerative
resistor (prepared by customer) between P and B.
Then, specify the external regenerative resistor for parameter Pr0.
16. Do not connect N terminal.
7 RB 8 B
9 N
10 U
Motor connection Connect each phase of the motor winding. U: U
phase V: V phase W: W phase
11 V
12 W
Earth Earth terminal for grounding
* Tighten the earth screws M5 with the 1.4 -1.6 Nm torques
respectively. * Tighten the terminal block screws M5 with the
1.0-1.7 Nm torques respectively. * Tighten the fixing screw M3 for
the terminal block cover with the 0.2 Nm torque. * If the maximum
value of tightening torque is exceeded, the terminal block could be
damaged.
No. SX-DSV03015 - 15 -
6-2 USB connector X1
By connecting to a computer or a controller via USB interface, the
following operations are available parameter reference / change
parameter save / load monitoring of status checking alarm status or
alarm history
Name Symbol Connector
pin No Description
D+ 3
Signal ground GND 5 Signal ground
No. SX-DSV03015 - 16 -
Common digital inputs
Name Symbol Con
-nector pin No.
Power supply input COM+ 7
Connect to the + terminal of an external DC power supply (12 to 24
V) Use a 12 V (±5 %) to 24 V (±5 %) power supply Insulation is
needed against the primary side power supply.
Multi-function input 1 SI1 8
The function changes according to the parameter settings. See
below. i-1
Multi-function input 2 SI2 9 Multi-function input 3 SI3 26
Multi-function input 4 SI4 27 Multi-function input 5 SI5 28
Multi-function input 6 SI6 29 Multi-function input 7 SI7 30
Multi-function input 8 SI8 31 Multi-function input 9 SI9 32
Multi-function input 10 SI10 33
Functions allocatable to multi-function inputs
Name Symbol Description
Servo ON SRV-ON When turned ON, the servo is turned on (power is
supplied to the motor). When turned OFF, the servo is turned off
and the motor power is turned off.
Control mode switch C-MODE Switches the control modes.
Positive overtravel limit POT
Positive overtravel limit. Make sure to connect this so that the
contact point will be opened when the movable
module positively exceeded the movable range. When this input is
OFF, a positive torque does not occur.
Negative overtravel limit NOT
Negative overtravel limit. Make sure to wire this input to be
activated as the work over travels the limit in the
negative direction. When this input is OFF, a negative torque does
not occur.
Deviation counter clear CL Clears the position deviation counter.
Command pulse inhibition INH Ignores the position command pulse.
Preset velocity 1 INTSPD1
Preset speed. Allows you to set up to 8 internal velocities by
combining INTSPDs 1 - 3.
Preset velocity 2 INTSPD2 Preset velocity 3 INTSPD3 Speed zero
clamp ZEROSPD Sets the speed command to zero. Anti-vibration switch
1 VS-SEL1
Switches the applied frequencies for anti-vibration control.
Anti-vibration switch 2 VS-SEL2 Gain switch GAIN Input to switch
the gains. Torque limit switch TL-SEL Switches the torque limits.
Alarm clear A-CLR Digital input to clear the alarm. Command scaling
switch VC-SIGN Specifies the sign of the speed command during the
speed control. Torque command sign TC-SIGN Specifies the sign of
the torque command during the torque control. Command scaling
switch 1 DIV1 Switches the scaling numerators of the command
pulse.
Allows you to switch up to 4 numerators by combining DIVs 1, 2.
Command scaling switch 2 DIV2 Forced alarm input E-STOP Generates
Err87. 0 "Abnormal forced alarm input." Inertia ratio switch J-SEL
Switches the inertia ratios.
No. SX-DSV03015 - 17 -
Input signals (command pulse train) and their functions
A suitable interface can be chosen from two kind of interface based
on the specification of command pulses. A. Pulse train interface
with line driver
Name Symbol Con
-nector pin No.
PULSH1 44
Input terminal for the position command pulse. It can be selected
by setting corresponding parameters.
Disabled in such control modes as the speed control or the torque
control, which does not require position commands.
The maximum allowable input frequency is 8 Mpps.
Di-2
Name Symbol Con
-nector Pin No.
OPC1 1
Input terminal for the position command pulse. It can be selected
by setting corresponding parameters.
Disabled in such control modes as the speed control or the torque
control, which does not require position commands.
The maximum allowable input frequency is 500 kpps for line driver
input, and 200 kpps for open collector input.
Di-1
Output signals (Common) and their functions
Name Symbol Con
-nector pin No.
10 11
The function changes according to the parameter settings. See
below. o-1
Multi-function output 2 SO2- SO2+
34 35
38 39
Digital output to indicate alarm status.
Multi-function output 5 SO5 12 The function changes according to
the parameter settings. See below. o-3
Multi-function output 6 SO6 40
Power supply input COM- 41
Connect to the - terminal of an external DC power supply (12 to 24
V) The power capacity varies depending on a composition of I/O
circuit.0.5A
or more is recommended. Insulation is needed against the primary
side power supply
Functions allocatable to multi-function outputs
Name Symbol Description Servo alarm ALM Digital output to indicate
the driver is in alarm status.. Servo ready S-RDY Digital output to
indicate the driver is ready to be enabled. Motor holding break
release BRK-OFF Digital output to provide the timing signal to
control the motor holding brake. Zero speed ZSP Outputs the zero
speed detection signals. Torque limited TLC Outputs the torque
limit signal. In-position INP Outputs the positioning completion
signal. Positioning completion 2 INP2 Outputs the positioning
completion signal 2. At speed AT-SPD Outputs the at-speed signal.
V-COIN V-COIN Outputs the speed coincidence signal.
Warning output 1 WARN1 Outputs the warning output signal configured
in Pr4. 40 "Warning output selection 1".
Warning output 2 WARN2 Outputs the warning output signal configured
in Pr4. 41 "Warning output selection 2".
Position command ON/OFF P-CMD Outputs meaning positional command
applied. Speed in –limit output V-LIMIT Outputs meaning the speed
is limited at torque control mode. Alarm attribute output ALM-ATB
Outputs meaning occur an alarm that can be cleared.
Speed command ON/OFF V-CMD Turns on output transistor when the
speed command is applied while the speed is controlled.
Servo on status output SRV-ST Turn on output transistor when servo
is on.
No. SX-DSV03015 - 19 -
Output signals (Pulse output) and its function
Name Symbol Connector pin No. Description Circuit
A phase output OA+ 21
Scaling processed encoder signal or external scale signal
(A/B/Z-phase) is output in differential mode. (RS422
equivalent)
Scaling ratio can be set by parameters. The ground pin of the line
driver on the output circuit is not insulated and is
connected to signal ground (GND). The maximum output frequency is 8
Mpps (after quadrature).
Do-1
OZ+ 23
OZ- 24
Z phase output CZ 19 Open collector output of Z-phase signal.
Ground of line driver of the output circuit is connected to signal
ground
(GND); not insulated. Do-2
Name Symbol Connector Pin No. Description Circuit
Analog monitor output
IM 42
Analog signal output for monitoring Monitoring object changes
according to the parameter setting.
Ao-1
Description Circuit
Internally connected to the earth terminal.
Signal ground GND 13,15, 17,25
Signal ground Internally insulated from the control signal power
supply (COM-).
− − 20 Do not connect
6-4 Encoder connector X6
Encoder power supply output 1 E5V 2 E0V (*Note 1)
3 Do not connect. 4 Do not connect.
Encoder signal I/O (serial signal)
5 PS 6 /PS
Frame ground shell FG
*Note 1) The E0V of the encoder power supply output is connected
with the control circuit ground of the connector X4 .
No. SX-DSV03015 - 21 -
Input and output interface
i - 1 o - 1
P
P
S
S
Pins; (X4)11,35,37,39 (X4)10,34,36,38
Note) To directly run the relay, attach a diode in Parallel with
the relay and in the direction shown in the figure above. VCE sat =
1.2 V
50 mA or less
1 k
24 V Power supply without external resistor
Vp-1.5
Di - 2
2
45
H/L
PULS
SIGN
44
47
46
Pins; 40,12 Note) To directly run the relay, attach a diode
in
Parallel with the relay and in the direction shown in the figure
above.
50 mA or less
7. Dimensions External dimension size A
[Base-mounting TYPE (Standard: Mounting on the back)]
2-M4 Effective screw depth 7
2-M4 Effective screw depth 7
Name plate
*Please do not use the screw holes of no description of the size
value.
No. SX-DSV03015 - 24 -
[Rack-mounting TYPE (Option: Mounted on the front)]
Mounting bracket (Option)
Mounting bracket (Option)
Name plate
*Please do not use the screw holes of no description of the size
value. *Mounting bracket is optional parts. Mounting bracket does
not shipped with the product.
No. SX-DSV03015 - 25 -
Motor Business Unit, Panasonic Corporation
External dimension size B [Base-mounting TYPE (Standard: Mounting
on the back)]
2-M4 Effective screw depth 7
2-M4 Effective screw depth 6.5
Name plate
*Please do not use the screw holes of no description of the size
value.
No. SX-DSV03015 - 26 -
[Rack-mounting TYPE (Option: Mounted on the front)]
Mounting bracket (Option)
Mounting bracket (Option)
Name plate
*Please do not use the screw holes of no description of the size
value. *Mounting bracket is optional parts. Mounting bracket does
not shipped with the product.
No. SX-DSV03015 - 27 -
Motor Business Unit, Panasonic Corporation
External dimension size C [Base-mounting TYPE (Standard: Mounting
on the back)]
2-M4 Effective screw depth 6
2-M4 Effective screw depth 6.5
Name plate
*Please do not use the screw holes of no description of the size
value.
No. SX-DSV03015 - 28 -
[Rack-mounting TYPE (Option: Mounted on the front)]
Mounting bracket (Option)
Mounting bracket (Option)
Name plate
*Please do not use the screw holes of no description of the size
value. *Mounting bracket is optional parts. Mounting bracket does
not shipped with the product.
No. SX-DSV03015 - 29 -
Motor Business Unit, Panasonic Corporation
External dimension size D 200V [Base-mounting TYPE (Standard:
Mounting on the back)]
2-M4 Effective screw depth 6
2-M4 Effective screw depth 6.5
Name plate
*Please do not use the screw holes of no description of the size
value.
No. SX-DSV03015 - 30 -
[Rack-mounting TYPE (Option: Mounted on the front)]
Mounting bracket (Option)
Mounting bracket (Option)
Name plate
*Please do not use the screw holes of no description of the size
value. *Mounting bracket is optional parts. Mounting bracket does
not shipped with the product.
No. SX-DSV03015 - 31 -
External dimension size E 200V [Rack-mounting TYPE
(Standard)]
4-M4 Effective screw depth 6
4-M4 Effective screw depth 6
Name plate
Name plate
External dimension size F 200V [Rack-mounting TYPE
(Standard)]
4-M4 Effective screw depth 9
4-M4 Effective screw depth 9
Name plate
Name plate
8. Wiring
8-1 Used cables and maximum cable lengths
Name Symbol Maximum cable length Used cable
Main power supply L1, L2, L3 Refer to specification Control power
supply L1C, L2C Refer to specification Motor connection U, V, W,
20m Refer to specification Earth cable Refer to specification
Encoder connection X6 20m Batch twisted shielded pair
Core cable: 0.18mm2 or more I/O connection X4 3m
8-2 Various connectors
X4
JAE Shell kit DF02D050B22A
Please use the above part number connector, or equivalent
connector.
No. SX-DSV03015 - 36 -
8-3 Precautions for wiring
100/ 200 V sizes A - B
L1 L2 L3
L1C L2C
B Red
(±5 %)
resistor
XA
XB
X4
*When you use single phase, connect the main power between L1 and
L3 terminals.
Power supply (3-phase)
In case of using the external regenerative resistor
In case of not using the external regenerative resistor
A B Not attached Not
installed
Between P and B: Keep open
- The circuit connected to terminal X1 – X6 are secondary circuits.
Insulation is needed against the primary side power supply (power
supply of the motor brake). Please do not connect them with the
same power supply.
No. SX-DSV03015 - 37 -
100/ 200 V sizes C - D
L1 L2 L3
Power supply (3-phase)
*When you use single phase, connect the main power between L1 and
L3 terminals.
N oi
se fi
lte r
Coli surge suppression units
(±5 %)
In case of using the external regenerative resistor
In case of not using the external regenerative resistor
C D Supplied Installed
Between P and B: Connect the external regenerative resistor
Between RB and B: Connect the shorting cable
- The circuit connected to terminal X1 – X6 are secondary circuits.
Insulation is needed against the primary side power supply (power
supply of the motor brake). Please do not connect them with the
same power supply.
No. SX-DSV03015 - 38 -
200 V size E
Coli surge suppression units
(±5 %)
In case of using the external regenerative resistor
In case of not using the external regenerative resistor
E Supplied Installed
Between P and B: Connect the external regenerative resistor
Between RB and B: Connect the shorting cable
- The circuit connected to terminal X1 – X6 are secondary circuits.
Insulation is needed against the primary side power supply ( power
supply of the motor brake). Please do not connect them with the
same power supply.
No. SX-DSV03015 - 39 -
200 V size F
Coli surge suppression units
(±5 %)
In case of using the external regenerative resistor
In case of not using the external regenerative resistor
F Supplied Installed
Between P and B: Connect the external regenerative resistor
Between RB and B: Connect the short bar
-The standard of the ability of the built-in dynamic brake resistor
is up to continuousness three times in the stop from the allowance
and maximum inertia and the rated speed. Resistor is damaged and
the dynamic brake might not work when using it under more critical
operating condition.
- The circuit connected to terminal X1 – X6 are secondary circuits.
Insulation is needed against the primary side power supply (power
supply of the motor brake). Please do not connect them with the
same power supply.
No. SX-DSV03015 - 40 -
Motor Business Unit, Panasonic Corporation
[1] When the servo driver uses single phase power supply for sizes
A - D, connect the servo driver to the terminals L1, L3 of main
power supply input. Do not connect anything to the terminal
L2.
[2] Surely insert the connector into place until it clicks. [3]
Make sure to use an insulation coated crimp terminal when
connecting to each terminal on the terminal
block. [4] Terminal block cover is fixed with screws. When wiring
to the terminal block, unscrew these screws to
uncover the cover. Tighten the cover fixing screw with the torque
of 0.2 Nm or less. [5] To not use an external regenerative
resistor, short out the circuit between terminals RB and B. (For
sizes C,
D, E, F)When a trip occurs due to the regenerative load protection
error No.18.0, externally install a regenerative resistor. To
externally install a regenerative resistor, remove a connection
cable between terminals RB, B and then connect the regenerative
resistor between terminals P, B. The products (Sizes A, B)
supporting only the external regenerative resistor, connect an
external regenerative resistor if necessary. To use an external
regenerative resistor, set Pr.0.16 (external regenerative resistor
selection) to 1 or 2.
[6] Apply the power supply of the voltage indicated on the
nameplate. [7] Do not reverse-connect the power input terminals
(L1, L2, and L3) and the motor output terminals (U, V,
and W). [8] Do not connect the motor output terminals (U, V, and W)
to ground or short out them. [9] Because high voltage is applied to
the power connectors XA , XB , XC , and XD , and the terminal
block, never touch them on any account. It may cause electric
shock. [10] Suitable for use on a circuit capable of delivering not
more than 5000 rms symmetrical amperes, below the
maximum input voltage of the product. [11] An AC servomotor, unlike
an induction motor, cannot change the rotation direction by
exchanging three
phases. Make sure to coincide the motor output terminals (U, V, and
W) of the servo driver with the colors (pin number for cannon
plugs) of the motor output cables.
[12] Surely connect the ground terminals of the motor and the servo
driver and earth the ground terminal as well as that of the noise
filter. In addition, earth the equipment unit. To earth them,
ground resistance should be 100 ohm or less for grounding. When the
power supply voltage is over 300 V ground resistance should be
10ohm or less. Please tight the earth screws by appropriate torque
and use correct size earth cable decided in the specifications. In
order to avoid the impact of electrolytic corrosion, do not
immediately have any contact between aluminum and copper.
[13] Attach the serge absorbing circuits for preventing noises to
an electromagnetic contactor placed around the servo driver, a coil
between relay contact points, and a brake winding of motor with a
brake.
[14] Attach the no fuse breaker. In case of emergency, make sure to
power off outside the servo driver. To use an earth leakage circuit
breaker, use that in which a high frequency wave countermeasure is
taken.
[15] In order to reduce the terminal noise voltage, install a noise
filter. [16] Customer is responsible for the power supply of the
brake attached to a motor. [17] Turn ON the power after the wiring
was finished.
No. SX-DSV03015 - 41 -
* As for external regenerative resistor, we recommend the resistors
below:
Input power voltage
Size Single phase 100 V Single/3 phase 200 V
-
or DV0P4285 x 1
F DV0P4285 x 2 in parallel Manufacturer by Iwaki Musen
Kenkyusho
Specification Built-in thermal protector operational
temperature
Part number Manu
Fan used (1 m/s)
[W] [W] DV0P4280 RF70M 50 10 25 140 ± 5 deg. Celsius DV0P4281 RF70M
100 10 25 Contact point B
DV0P4282 RF180B 25 17 50 Open/close capacity (resistance
load)
DV0P4283 RF180B 50 17 50 1 A 125 VAC, 6000 times DV0P4284 RF240 30
40 100 0. 5 A 250 VAC, 10000 times DV0P4285 RH450F 20 52 130
* Electric power available without running the built-in thermal
protector. For safety, a temperature fuse and a thermal protector
are built in. Configure the circuit so as to turn off the power
supply when the thermal protector is running. The built-in
temperature fuse can break according to the radiation condition,
the used temperature range, the power supply voltage, and the load
change. Make sure that the surface temperature of regenerative
resistor is being kept 100 deg. Celsius or less under bad
conditions (high power supply voltage, large load inertia, short
deceleration time, etc.) subject to regeneration by embedding the
regenerative resistor in equipments and running the equipments.
Attach the regenerative resistor on the incombustibles such as
metal. Install the regenerative resistor so that people can not
directly touch it, such as the incombustible to cover it. Keep the
temperature of places, which people can directly touch, below 70
deg. Celsius.
No. SX-DSV03015 - 42 -
Motor Business Unit, Panasonic Corporation
*) Dynamic brake Servo driver(size A-F) has built-in dynamic brake
function to stop motor in an emergency. Dynamic brake can be
operated in the following cases
1. The main power off 2. The servo off 3. Protection action 4.
Connector X4 driving ban importation (POT, NOT) action
On the above 1~4 cases, valid or invalid of dynamic brake can be
determined by the parameters. However, when the control power off,
dynamic brake of size A-F keep valid condition. Dynamic brake shall
be using in rated short time for emergency stop using. Please note
the following points.
1. Do not start / stop the motor by the servo signal (SRV-ON) .
Built-in dynamic brake circuit may be damaged. 2. Do not drive the
motor with external torque. Motor generates electricity by external
torque.
Dynamic brake circuit will be damaged and it is possible that
short-circuit current cause smoke or combustion. 3. Allow approx.
10 minutes pause when the dynamic brake is activated during
high-speed running.
Resistor is damaged and the dynamic brake might not work when using
it under more critical operating condition.
*) Mounting direction and spacing
-To perform effective cooling, allow sufficient ambient space.
-Provide a fan so as to make uniform the temperature in the control
panel. -Each of Sizes D to F is equipped with a cooling fan on the
bottom. -Adhere to environmental conditions for the environment in
the control panel.
d d d
Fan Fan 100mm or more
Direction of air flowing from the internal cooling fan (Sizes D –
F)
Control panel
40mm or more
40mm or more
100mm or more
In case the portion to receive a fan is coated, peeling off the
coating before installing a fan or using homebuilt bracket s with
conductive plating provides effective anti-noise measures.
d Sizes A-F 10 mm or more
No. SX-DSV03015 - 43 -
Motor Business Unit, Panasonic Corporation
(2) Wiring to connector X4
[1] Customer is responsible for the control signal power supply at
12-24 VDC for external control connected between COM+ and
COM-.Insulation is needed against the primary side power supply
(power supply of the motor brake). Please do not connect them with
the same power supply.
[2] Place the servo driver and its peripheral device as nearly as
possible (up to 3 m) so as to shorten the wiring. [3] Wire the
wiring as far away as possible (30 cm or more) from the power lines
(L1, L2, L3, L1C, L2C, U, V,
W, ). Do not put them in the same duct or bind them together.
Digital input
Command pulse Inhibition input Deviation counter clear input
Servo-ON input
Gain switching input Electronic gear switching input 1 Damping
control switching input 1
Control mode switching input
7
33
30
29
27
28
26
32
31
9
8
COM+
INH
CL
SRV-ON
GAIN
DIV1
VS-SEL1
C-MODE
A-CLR
POT
NOT
4.7 kΩ
The functions of pins 8, 9, 26-33 are allocatable with parameters.
The figure above shows the default setting.
No. SX-DSV03015 - 44 -
Motor Business Unit, Panasonic Corporation
[4] Be aware of the polarity of the power supply for control
signals. The polarity connection contrary to the figure shown above
can damage the servo driver.
[5] To directly drive the relay with each output signal, make sure
to attach a diode in parallel to the relay and in the direction as
shown in the figure below. The servo driver can be damaged if the
diode is not attached or the diode is attached in the opposite
direction.
[6] When a logic circuit such as a gate receives each output
signal, take care so that a noise does not impact on the
circuit.
[7] Apply 50 mA or less of current to each output.
Digital output
Servo-ready output
Servo-alarm output
At-speed output
BRKOFF+
TLC
ZSP
COM-
BRKOFF-
The functions of pins 10, 11, 34, 35, 38, 39 are allocatable with
parameters. The figure above shows the default setting.
No. SX-DSV03015 - 45 -
Pulse train command
PULS 44
B. Pulse train interface
The pulse train command input can support both line driver and open
collector interfaces, but in order to increase the certainty of
signal transmissions, we recommend you to use the pulse train
command input as an line driver interface as shown in the figure
below. Be aware that the line driver and open collector interfaces
differ from each other in the connection to the servo driver.
Line driver interface
Open collector interface
represents twisted pair
Note: Precautions for using the command pulse input as an open
collector interface
Shorten the wire length (up to 1 m). Be aware that the maximum
pulse frequency of the open collector interface is small (200
kpps)
compared with that (500 kpps) of the line driver interface.
No. SX-DSV03015 - 47 -
OA+
OA-
OB+
OB-
OZ+
OZ-
GND
21
22
48
49
23
24
25
A
B
Z
Connect signal ground of the host and the driver without
fail.
19
25
CZ
GND
represents twisted pair
Note: [1] As well as being output in the line driver, only the
Z-phase signals are output to the pin 19 (CZ) in the
open collector. When using this CZ signal, be careful not to be
subject to the noise impact. [2] Use a line receiver (AM26C32 or
equivalent) for receiving the output pulses. Then, attach
ppropriate
terminating resistor between inputs of the line receiver. [3] In
the Z-phase signal output, be aware that the logic of line driver
output (OZ) is the reverse of that of
the open collector output (CZ). [4] Use the pulses at less than or
equal to the maximum output frequency 4 Mpps (after quad edge
valuation).
Motor Business Unit, Panasonic Corporation
(3) Wiring to connector X6
[1] As for the encoder cable, use the batch shielded twisted wire
pairs whose core is 0.18 mm2 or more. [2] The cable length should
be up to 20 m. When the wiring is long, we recommend you to use the
double wiring
for the 5 V power supply in order to reduce the impact of voltage
drop. [3] Connect the coat of shielded cable at the motor side to
the shield of shielded cable from the encoder.
Make sure to connect the coat of shielded cable at the servo driver
side to the shell (FG) of X6 . [4] Wire the wiring as far away as
possible (30 cm or more) from the power lines (L1, L2, L3, L1C,
L2C, U, V, W,
). Do not put them in the same duct or bind them together.
[5] Do not connect anything to the empty pins of X6 .
In case of using as singleturn encoder In case of lead wire
type:
172169-1 Tyco Electronics
E0V
BAT+
BAT-
PS
PS
FG
E5V
E0V
PS
PS
E5V
Motor
White
Black
Red
Pink
Cyan
Purple
Yellow/Green
E5V
E0V
BAT+
BAT-
PS
PS
FG
E5V
E0V
PS
PS
No. SX-DSV03015 - 49 -
9-1 Conforming standards
European EC directive
Low voltage directive EN61800-5-1 EN50178
UL standard UL508C (File No. E164620) CSA standard C22. 2 No.
14
KC KN11 KN61000-4-2,3,4,5,6,8,11
9-2 European EC directive
Our products, in order to make it easy for the embedded equipments
and devices to be compliant with EC directive, provide the
compliance with the standards associated with low voltage
directive.
9-2-1 Compliance with EMC directive
Our servo system determines the model (conditions) such as the
installed distance and the wiring of the servo driver and the
servomotor and makes the model compliant with the standards
associated with EMC directive. When equipments and devices are
embedded in practice, wiring and grounding conditions, etc. may be
not the same as the model. Thus, it is necessary to measure how the
final equipments and devices where the servo driver and the servo
motor are embedded are compliant (especially unnecessary radiation
noise, noise terminal voltage) with EMC directive.
No. SX-DSV03015 - 50 -
9-3 Peripheral device configuration
9-3-1 Installation environment Use the servo driver under the
environment of pollution level 2 or 1 defined in IEC60664-1.
(Example: Installed in the IP54 control panel.)
100 V/200 V type
Ferrite core
Ferrite core
9-3-2 Power supply
100 V system: Single phase 100 V - 120 V +10 % -15% 50/60 Hz
200 V system (Sizes A-D): Single / 3 phase 200 V - 240 V +10 % -15%
50/60 Hz
200 V system (Sizes E-F): 3 phase 200 V - 240 V +10 % -15% 50/60
Hz
(1) Use it under the environment of overvoltage category III
defined in IEC60664-1. (2) As for the parallel I/O power supply,
use the CE marking conforming product or the 12-24 VDC power
supply of insulation type compliant with EN standard
(EN60950).
No. SX-DSV03015 - 52 -
9-3-3 Power supply
Make sure to connect a circuit breaker compliant with IEC standard
and UL certification (marked with LISTED, ) between the power
supply and the noise filter. Integral solid state short circuit
protection does not provide branch circuit protection. Branch
circuit protection must be provided in accordance with the National
Electrical Code and any additional local codes.
9-3-4 Noise filter
To install one noise filter as a whole in the power unit when
multiple servo drivers are used, consult the noise filter
manufacturer.
9-3-5 Surge absorber
Install the surge absorber in the primary side of the noise filter.
- Please!
To carry out a pressure test of equipments and devices, make sure
to detach the surge absorber. Otherwise, the surge absorber can be
damaged.
9-3-6 Ferrite core
Install the noise filters for signal lines in all cables (power
supply, motor, encoder, and interface cables).
9-3-7 Grounding (1) In order to avoid an electric shock, make sure
to connect a protection ground terminal ( ) of the servo
driver and the protection ground (PE) of the control panel. (2) Do
not tighten the connection to the protection ground terminal ( )
along with other parts. The servo
driver has two protection ground terminals.
UL
9-4 List of peripheral devices applicable to servo driver
Servo driver Voltage spec
Power capacity (Rated current)
Noise filter for signals
Approx. 0.4 kVA
Approx. 0.5 kVA MADL*15**
MBDL*21** Single phase 100 V
Approx. 0.5 kVA
Approx. 0.9 kVA
Approx. 0.9 kVA
15 A DV0PM20042
Approx. 1.3 kVA
Approx. 1.8 kVA
/ RTHN-5030
MEDL*83**
DV0PM20043 /
RTHN-5050
/ RTHN-5050
MFDL*B3** Approx. 7.5 kVA
Select the specification common to single/ 3 phase 200 V according
to the power supply. To become compliant with European EC
directive, make sure to connect a circuit breaker compliant
with
IEC standard and UL certification (marked with LISTED) between the
power supply and the noise filter.
- Please! Select a circuit breaker and a noise filter with the
capacity comparable to the power capacity (by taking into account
the load condition). Terminal block and earth terminal For wiring,
use the copper conductor cable of the temperature rating 75deg.
Celsius or more. For the protection earth terminal, use M4 for
Sizes A-E, M5 for Sizes F. The terminal block can be damaged if the
screw tightening torque exceeds the maximum value. (See the page
for explanation of terminal blocks.)
No. SX-DSV03015 - 54 -
Motor Business Unit, Panasonic Corporation
Use earth cable having a cross section area of 2.0 mm2 (AWG 14) or
more for an output of 50 W to 2.5 kW, 3.5 mm2 (AWG 12) or more for
an output of 3.0 kW to 5.0 kW, 13.3 mm2 (AWG 6) or more for an
output of 6.0 kW to 11.0 kW, or 21.1 mm2 (AWG 4) or more for an
output of 15 kW. For Sizes A - E, use the dedicated connector which
came with the product. In this case, the stripped cable length
should be 8-9 mm. The tightening torque of connector (X4) with the
upper controller should be 0.3 - 0.35 Nm. The torque which exceeds
0.35 Nm can damage the driver's connector.
Optional part number Part number of manufacturer Manufacturer
Absorber
DV0PM20050 RAV-801BXZ-4
RJ8035 Konno Kogyousho
Motor Business Unit, Panasonic Corporation
9-5 Compliance with UL standard
Certified by the UL508C (file No. E164620) standard by observing
the installation conditions 1, 2 below. [1] Installation
environment
Use the servo driver under the environment of pollution level 2 or
1 defined in IEC60664-1. (Example: Installed in the IP54 control
panel.) Make sure to connect a circuit breaker or fuse compliant
with UL certification (marked with LISTED, ) between the power
supply and the noise filter. For information about rated current of
the circuit breaker/ fuse, refer to "9-4 List of peripheral devices
applicable to servo driver". For wiring, use the copper conductor
cable of the temperature rating 75deg.Celsius or more. The terminal
block can be damaged if the screw tightening torque exceeds the
maximum value. (See the page for explanation of terminal
blocks.)
[2] Short Circuit Current Ratings (SCCR) This servo driver compiles
with the power of the following conditions.
- The power supply voltage is less than the maximum input voltage
of the product. - Symmetrical short current of the power supply is
less than 5000A.
[3] Protection of branch circuit Protection of branch circuit,
please follow the NEC(National Electrical Code) and Standard
regional.
[4] Overload protection, overheat protection The overload
protection function of the servo driver works when the effective
current will be 115 % or more of the rated current based on the
time property. Check that the effective current of the servo driver
does not exceed the rated current. Set up the maximum instantaneous
allowable current at the Pr0. 13 (first torque limit) and Pr5.22
(second torque limit). There is no overheat protection in the servo
motor. If you need to conform to the NEC, please implement the
overheating protection measures.
UL
9-6 Radio waves act (South Korea) precautions
This servo driver is a Class A commercial electromagnetic radio
wave generator not designed for home use. The user and distributor
should be aware of this fact.
9-7 Compliance with SEMI F47 instantaneous stop standard
This function corresponds to the F47 power supply instantaneous
stop standard in the SEMI standard during no/ light load
condition.
Useful when used in the semiconductor manufacturing
equipment.
-Warning: [1] Not applicable to the driver which has a single phase
100V specification and a 24 VDC specification
for control power input. [2] Make sure to evaluate and confirm the
compliance with F47 power supply instantaneous stop
standard with an actual device.
9-8 Harmonic suppression measures
Harmonic suppression measures will vary by the country. Please
install in accordance with the regulations of each country.
No. SX-DSV03015 - 57 -
SAFETY PRECAUTIONS
10. Safety precautions
Danger and damage caused when the safety precautions are ignored
are described in the following categories and signs:
Description of this sign indicates “urgent danger that may cause
death or serious injury. ”
Description of this sign indicates “danger that may cause injury or
property damage. ”
Rules to keep are categorized and described with the following
graphics.
This graphic indicates “Prohibited” acts that are not
permitted.
This graphic indicates “Mandatory” acts that must be performed
forcibly.
(1) Be sure not to store or use the equipment under conditions
subjected to vibrations (5. 88 m/s2 or heavier) or an impact shock,
foreign matters such as dust, metal particles oil mist, liquids
such as water, oil and polishing liquid, near flammable objects, in
an atmosphere of corrosive gas (such as H2S, SO2, NO2, Cl2) or in
an atmosphere of flammable gas.
(2) Do not place any flammable objects near a motor, a driver, or a
regenerative resistor.
(3) Do not driver the motor with external torque. Motor generates
electricity by external torque. Dynamic brake circuit will be
damaged and it is possible that short-circuit current cause smoke
or combustion.
(4) Do not damage or strain the cable, or do not apply excessive
stress. Do not place a heavy item on the cable or do not pinch the
cable.
(5) Do not use the equipment with the cable soaked in oil or
water.
(6) Do not install the equipment near a heating object such as a
heater or a large wire-wound resistor. (Install a thermal shield,
etc. to avoid the influences of heating object.)
(7) Do not connect the motor directly with a commercial
power.
(8) Do not use the equipment under conditions subject to strong
vibrations or an impact shock.Please attach the anti-vibration
equipment to servo driver mounting surface If you install the servo
driver in the vicinity of the vibration source.
(9) Be sure not to touch a rotating part of a motor during
operation.
(10) Do not touch the key flutes of motor output shaft with bare
hands.
(11) Be sure not to touch inside a servo driver.
(12) Motor drive heat sink and peripheral device become very hot.
Do not touch them.
(13) Do not carry out wiring or do not operate the equipment with
wet hands.
DANGER
DANGER
ATTENTION
SAFETY PRECAUTIONS
(14) Wiringwork is strictly allowed only for an engineer
specializing electrical work.
(15) A motor other than specified is not provided with a protection
device. Protect a motor with an overcurrent protection device, a
ground-fault interrupter, overheating protection device, and
emergency stop device,etc.
(16) When operating the driver after an earthquake, inspect
installation conditions of the driver and the motor and safety of
the equipment to make sure that no fault exists.
(17) After turning off the power, the inside circuit remains
charged at a high voltage for a while. When moving, wiring or
inspection the equipment, completely shut off the power supply
input outside the driver and leave for 15 minutes or longer before
working.
(18) Install and mount the equipment securely to prevent personal
injury caused by poor installation or mounting on an
earthquake.
(19) Install an external emergency shutoff circuit to stop
operation and interrupt power immediately upon emergency. Emission
of smoke or dust may occur due to a fault of a motor or a driver
used in combination.For example, if the system is energized with
the regenerative control power transistor shorted by
failure,overheating of a regenerative resistor installed outside
the driver may occur and it may emit smoke and dust. If a
regenerative resistor is connected outside a driver, provide a
means of detecting overheating such as a thermal protector to shut
off power upon detecting abnormal heating.
(20) Mount the motor, the driver and the peripheral devices on a
noncombustible material such as metal.
(21) Provide correct and secure wiring. Insecure wiring or
incorrect wiring may cause runaway or burning of a motor. During
wiring work, avoid entry of conductive dust such as wire chippings
in an driver.
(22) Connect cables securely and provide secure insulation on
current-carrying parts using insulation aterial.
(23) Be sure to install a fuseless breaker in a power supply. Be
sure to connect grounding terminals and grounding wires. To prevent
an electric shock and malfunction, type D grounding (grounding
resistance at 100 Ω or lower) or higher grade is recommended.
(24) Tighten the screws on the terminal block and earth terminal
securely at appropriate torque shown in the specifications.
(25) When building a system by using the safety feature, design it
by fully understanding and being compliant with the related safety
standards and items described in our operation manual or technical
reference.
(26) Do not hold cables or motor shaft when carrying the equipment.
(27) Do not adjust or change drive gains extremely, and do not make
operations of the machine instable. (28) The equipment may suddenly
restart after recovery from shutdown upon a power failure. Keep
away
from the equipment. Specify settings of the equipment to secure
safety for human against such restart operations.
(29) When the equipment is energized, keep away from the motor and
mechanism driven by the motor in case of malfunction.
(30) Avoid a strong shock to the motor shaft. (31) Avoid a strong
shock to the product. (32) Be sure not to use the electromagnetic
contactor installed on the main power supply to start or stop
the
motor. (33) Avoid frequent switching on and off the main power
supply of the driver. (34) The built-in brake of the motor is used
for holding only. Do not use the brake to stop (braking) for
securing safety of the equipment.
ATTENTION
SAFETY PRECAUTIONS
(35) Do not fall or topple over the equipment when carrying or
installing. (36) Do not climb the motor or do not place a heavy
item on the motor. (37) Do not block radiation slits of the driver
and do not put a foreign matter into the driver. (38) Do not use
the equipment under direct sunlight. When storing the equipment,
avoid direct sunlight and
store under conditions of operating temperatures and humidity. (39)
Be sure not to disassemble or modify the equipment. Disassembling
and repair is allowed only for the
manufacturer or sales agency authorized by the manufacturer. (40)
Do not start / stop the motor by the servo signal (SRV-ON).
Built-in dynamic brake circuit may be
damaged. (41) Use a motor and a driver in combination specified by
the manufacturer. A customer shall be
responsible for verifying performances and safety of combination
with other driver. (42) A failure of a motor or a combined driver
may cause burning of motor, or emission of smoke and
dust. Take this into consideration when the application of the
machine is clean room related. (43) Install the equipment
adequately in consideration of output and main unit weight. (44)
Keep the ambient conditions of an installed motor within a range of
allowable ambient temperatures
and of allowable humidity. (45) Install the equipment by specified
procedures and in specified orientation. (46) Install the devices
by keeping specified distances between a driver and inside control
panel or other
devices. (47) If a motor has an eyebolt, use the eyebolt to carry
the motor only. Do not use the eyebolt to carry
equipment. (48) Connect a relay breaking upon emergency stop in
series with a brake control relay. (49) For a test run, hold down a
motor and disconnect from a mechanical system to verify operations
before
installing on the equipment. (A motor must run smoothly at 30 r/min
driven with an driver. )
(50) Verify that an input power supply voltage satisfies the driver
specifications before turning on the power and start operation. An
input voltage higher than rated may cause ignition and smoking in
the driver, which may cause runaway or burning of a motor in some
cases.
(51) When an alarm status occurs, remove a cause of the problem
before restarting. Careless restarting without removing a cause of
problem may cause malfunction or burning of a motor.
(52) The built-in brake of the motor may not be able to hold due to
expiring useful life or a mechanical structure.Install a braking
device on the equipment to secure safety.
(53) Pay attention to heat radiation. The driver generates heat by
operating a motor. A driver used in a sealed control box may cause
an extreme rise of temperature. Consider cooling so that an ambient
temperature around the driver satisfies an operating range.
(54) Maintenance and inspection is allowed only for a specializing
person. (55) Turn off the power when the equipment is not used for
a long term. (56) The cooling fan in the top side of size H stops
for energy saving when driver is servo off. It is not
abnormal. (57) Allow approx. 10 minutes pause when the dynamic
brake is activated during high-speed running. (58) Resistor is
damaged and the dynamic brake might not work when using it under
more critical operating
condition.
Capacitance of the capacitors of power supply rectifier circuit
drops over time. To avoid a secondary problem due to a failure,
replacement of capacitors is recommended at an interval of Abt
imately 5 years. Commission the manufacturer or sales agency
authorized by the manufacturer to replace the parts.
Be sure to read operating manual (safety guide) that shipped with
product before use.
No. SX-DSV03015 - 60 -
SAFETY PRECAUTIONS
Servo driver's ambient temperature
The driver's service life significantly depends on the ambient
temperature. Make sure that the driver's ambient temperature (at 5
cm distant from the driver) does not exceed the operating
temperature range.
Operating temperature range: 0 to 55 °C
We have made the best efforts to ensure quality of this product.
However, application of external noise( include radiation) or
static electricity, or a defect of the input power supply, wiring
or components may cause the servo driver to operate beyond the
preset conditions. Therefore, you should exercise thorough caution
to ensure safety against an unexpected operation.
5 cm
5 cm
11. Life and warranty
11-1 Life expectancy of the driver
The Driver has 28000 hours of life expectancy when used
continuously under the following conditions,
Definition of the life: Life end shall be defined as the
capacitance of the electrolytic capacitor is reduced by 20 % from
the ex-factory status.
Condition Input power : Single phase 100 VAC 50/60 Hz 3 phase 200
VAC 50/60 Hz
Working temperature. : 55 degrees C Output thrust : Constant thrust
at rating Speed : Constant speed at rating
Note that the life varies due to the working conditions.
11-2 Typical life
[1] In-rush current prevention relay
Replace the in-rush current prevention relay when it is activated
typically 20000 times. Note that the criteria may vary depending on
the environmental and working condition.
[2] Cooling fan
Replace the cooling fan in 10000 to 30000 hours. Note that the
criteria may vary depending on the environmental and working
condition.
11-3 Warranty period
(1) Warranty period shall be 12 months from the ex-factory date or
18 months from the date of manufacturing.
This Warranty shall be exempted in the following cases, [1] defects
resulting from misuse and/or repair or modification by the customer
[2] defects resulting from drop of the Product or damage during
transportation [3] defects resulting from improper usage of the
Product beyond the Specifications [4] defects resulting from fire,
earthquake, lightening, flood, damage from salt, abnormal voltage
or other Act of
God, or other disaster. [5] defects resulting from the intrusion of
foreign material to the Product, such as water, oil or metallic
particles.
This Warranty shall be exempted when the life of the components
described in 7-2 exceeds its typical life. (2) Warranty scope
Panasonic warrants the replacement of the defected parts of the
Product or repair of them when the defects of the Product occur
during the Warranty Period, and when the defects are under
Panasonic responsibility.This Warranty only covers the Product
itself and does not cover any damage incurred by such
defects.
No. SX-DSV03015 - 62 -
12. Others
Precautions for export of this product and the equipment
incorporating this product
If the end user or end purpose of this product relates to military
affairs, armament and so on, this product may be subject to the
export regulations prescribed in "Foreign Exchange and Foreign
Trade Control Law".To export this product, take thorough
examination, and follow the required export procedure.
We cannot warrant this product, if it is used beyond the specified
operating conditions.
Compliance with the relevant standards should be considered by the
user.
The final decision on the compatibility with the installations and
components at the user's site, in terms of
structure, dimensions, characteristics and other conditions, should
be made by the user.
When using this product in your equipment, be careful about the
compatibility with the servomotor and the servo driver to be used
together.
For performance improvement or other reasons, some components of
this product may be modified in a range
that satisfies the specifications given in this document.
Any specification change shall be based on our authorized
specifications or the documents presented by the user. If a
specification change may affect the functions and characteristics
of this product, we will produce a trial product, and conduct
examination in advance.Note that the produce price may be changed
with a change in its specifications.
We have made the best efforts to ensure the product quality.
However, complete equipment at customer’s site
may malfunction due to a failure of this product. Therefore, take
precautions by providing fail-safe design at customer’s site, and
ensure safety within the operating range of the work place.
Failure of this product depending on its content, may generate
smoke of about one cigarette.
Take this into consideration when the application of the machine is
clean room related.
When the equipment runs without connecting the servomotor's shaft
electrically to ground, electrolytic corrosion may occur on the
motor bearing and the bearing noise may get louder depending on the
equipment and installing environment. So, customer is responsible
to check and verify it.
A customer must verify and inspect the equipment. Please be careful
when using in an environment with high
concentrations of sulphur or sulphuric gases, as sulpharation can
lead to disconnection from the chip resistor or a poor contact
connection.
Do not use benzene, thinner, alcohol, and acid or alkaline
detergent, because they can discolor and damage the
packaging chassis. Apply adequate tightening torque